更新至QT6

2025-11-27 14:22:15 +08:00
parent b0c4d5c475
commit 696b2048ee
28 changed files with 2054 additions and 66 deletions
--- a/deploy_windows.sh
+++ b/deploy_windows.sh
@@ -0,0 +1,418 @@
+#!/bin/bash
+
+# ============================================
+# AGV Qt6 GUI 自动部署脚本
+# ============================================
+#
+# 功能：自动打包 Qt6 应用程序及其所有依赖
+# 作者：AGV Team
+# 日期：2025-11-27
+# 版本：1.0
+#
+# ============================================
+
+set -e  # 遇到错误立即退出
+
+# ==================== 配置区域 ====================
+
+# Qt 安装路径（请根据实际情况修改）
+QT_DIR="/c/Qt/6.10.1/mingw_64"
+MINGW_DIR="/c/Qt/Tools/mingw1310_64"
+
+# 项目路径
+PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+BUILD_DIR="$PROJECT_ROOT/build"
+DEPLOY_DIR="$PROJECT_ROOT/release_package"
+
+# 可执行文件名
+EXE_NAME="agv_qt_gui.exe"
+
+# 颜色定义
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# ==================== 函数定义 ====================
+
+print_header() {
+    echo ""
+    echo -e "${BLUE}========================================${NC}"
+    echo -e "${BLUE}  AGV Qt6 GUI 自动部署脚本${NC}"
+    echo -e "${BLUE}========================================${NC}"
+    echo ""
+}
+
+print_step() {
+    echo -e "${GREEN}[$(date +%H:%M:%S)]${NC} $1"
+}
+
+print_warning() {
+    echo -e "${YELLOW}[警告]${NC} $1"
+}
+
+print_error() {
+    echo -e "${RED}[错误]${NC} $1"
+}
+
+check_requirements() {
+    print_step "检查环境要求..."
+
+    # 检查可执行文件
+    if [ ! -f "$BUILD_DIR/$EXE_NAME" ]; then
+        print_error "找不到可执行文件: $BUILD_DIR/$EXE_NAME"
+        echo "请先编译项目！"
+        echo ""
+        echo "编译命令："
+        echo "  cd build"
+        echo "  cmake -G \"MinGW Makefiles\" -DCMAKE_PREFIX_PATH=$QT_DIR .."
+        echo "  cmake --build . -j4"
+        exit 1
+    fi
+
+    # 检查 Qt
+    if [ ! -d "$QT_DIR" ]; then
+        print_error "找不到 Qt 安装目录: $QT_DIR"
+        echo "请修改脚本中的 QT_DIR 变量"
+        exit 1
+    fi
+
+    # 检查 MinGW
+    if [ ! -d "$MINGW_DIR" ]; then
+        print_error "找不到 MinGW 目录: $MINGW_DIR"
+        echo "请修改脚本中的 MINGW_DIR 变量"
+        exit 1
+    fi
+
+    # 检查 windeployqt
+    if [ ! -f "$QT_DIR/bin/windeployqt.exe" ]; then
+        print_error "找不到 windeployqt.exe"
+        exit 1
+    fi
+
+    echo -e "  ✓ 可执行文件: $EXE_NAME"
+    echo -e "  ✓ Qt 目录: $QT_DIR"
+    echo -e "  ✓ MinGW 目录: $MINGW_DIR"
+}
+
+create_deploy_dir() {
+    print_step "创建部署目录..."
+
+    if [ -d "$DEPLOY_DIR" ]; then
+        print_warning "部署目录已存在，将被删除"
+        rm -rf "$DEPLOY_DIR"
+    fi
+
+    mkdir -p "$DEPLOY_DIR"
+    echo -e "  ✓ 创建目录: $DEPLOY_DIR"
+}
+
+copy_executable() {
+    print_step "复制可执行文件..."
+
+    cp "$BUILD_DIR/$EXE_NAME" "$DEPLOY_DIR/"
+
+    # 获取文件大小
+    SIZE=$(ls -lh "$DEPLOY_DIR/$EXE_NAME" | awk '{print $5}')
+    echo -e "  ✓ $EXE_NAME ($SIZE)"
+}
+
+run_windeployqt() {
+    print_step "运行 windeployqt（自动收集 Qt 依赖）..."
+
+    cd "$DEPLOY_DIR"
+
+    # 运行 windeployqt
+    "$QT_DIR/bin/windeployqt.exe" \
+        --release \
+        --no-translations \
+        --no-system-d3d-compiler \
+        "$EXE_NAME" > /dev/null 2>&1
+
+    cd "$PROJECT_ROOT"
+
+    echo -e "  ✓ Qt 依赖已复制"
+}
+
+copy_mingw_runtime() {
+    print_step "复制 MinGW 运行时库..."
+
+    RUNTIME_DLLS=(
+        "libgcc_s_seh-1.dll"
+        "libstdc++-6.dll"
+        "libwinpthread-1.dll"
+    )
+
+    for dll in "${RUNTIME_DLLS[@]}"; do
+        if [ -f "$MINGW_DIR/bin/$dll" ]; then
+            cp "$MINGW_DIR/bin/$dll" "$DEPLOY_DIR/"
+            echo -e "  ✓ $dll"
+        else
+            print_warning "找不到 $dll"
+        fi
+    done
+}
+
+copy_project_libs() {
+    print_step "复制项目特定库..."
+
+    # 复制 ControlCAN 库（如果存在）
+    if [ -f "$PROJECT_ROOT/lib/ControlCAN.dll" ]; then
+        cp "$PROJECT_ROOT/lib/ControlCAN.dll" "$DEPLOY_DIR/"
+        echo -e "  ✓ ControlCAN.dll"
+    else
+        print_warning "未找到 ControlCAN.dll（CAN 功能可能不可用）"
+    fi
+
+    # 复制其他必要的数据文件（如果有）
+    # if [ -d "$PROJECT_ROOT/data" ]; then
+    #     cp -r "$PROJECT_ROOT/data" "$DEPLOY_DIR/"
+    #     echo -e "  ✓ data 目录"
+    # fi
+}
+
+create_launcher() {
+    print_step "创建启动脚本..."
+
+    # Windows 批处理文件
+    cat > "$DEPLOY_DIR/run.bat" << 'EOF'
+@echo off
+chcp 65001 >nul
+title AGV Path Tracking Control System
+
+echo ========================================
+echo   AGV 路径跟踪控制系统
+echo   Qt6 图形界面
+echo ========================================
+echo.
+echo 正在启动程序...
+echo.
+
+agv_qt_gui.exe
+
+if errorlevel 1 (
+    echo.
+    echo ========================================
+    echo   程序异常退出！
+    echo   错误代码: %errorlevel%
+    echo ========================================
+    echo.
+    pause
+)
+EOF
+
+    # Bash 启动脚本
+    cat > "$DEPLOY_DIR/run.sh" << 'EOF'
+#!/bin/bash
+echo "========================================"
+echo "  AGV 路径跟踪控制系统"
+echo "  Qt6 图形界面"
+echo "========================================"
+echo ""
+echo "正在启动程序..."
+echo ""
+
+./agv_qt_gui.exe
+
+if [ $? -ne 0 ]; then
+    echo ""
+    echo "========================================"
+    echo "  程序异常退出！"
+    echo "  错误代码: $?"
+    echo "========================================"
+    echo ""
+    read -p "按 Enter 键继续..."
+fi
+EOF
+
+    chmod +x "$DEPLOY_DIR/run.sh"
+
+    echo -e "  ✓ run.bat (Windows 启动脚本)"
+    echo -e "  ✓ run.sh (Bash 启动脚本)"
+}
+
+create_readme() {
+    print_step "创建 README 文件..."
+
+    cat > "$DEPLOY_DIR/README.txt" << EOF
+========================================
+  AGV 路径跟踪控制系统 - 部署包
+========================================
+
+版本：1.0
+构建日期：$(date +%Y-%m-%d)
+Qt 版本：6.10.1
+编译器：MinGW 13.1.0
+
+========================================
+  运行方法
+========================================
+
+Windows:
+  双击运行 run.bat 或 agv_qt_gui.exe
+
+Linux/Git Bash:
+  ./run.sh
+
+========================================
+  系统要求
+========================================
+
+- Windows 10 或更高版本
+- 64 位操作系统
+- 约 100MB 磁盘空间
+
+========================================
+  功能说明
+========================================
+
+1. 路径规划
+   - 圆弧路径
+   - 直线路径
+   - S 曲线
+   - CSV 文件加载
+   - 样条插值
+
+2. 路径跟踪
+   - Pure Pursuit 算法
+   - Stanley 算法
+   - 实时可视化
+
+3. AGV 参数配置
+   - 轴距调整
+   - 最大速度设置
+   - 最大转向角设置
+
+========================================
+  故障排除
+========================================
+
+问题：程序无法启动
+解决：确保所有 DLL 文件都在同一目录下
+
+问题：中文路径无法加载
+解决：确保 CSV 文件使用 UTF-8 编码
+
+问题：动画播放卡顿
+解决：减小时间步长或增加 Horizon
+
+========================================
+  技术支持
+========================================
+
+详细文档：docs/guides/
+编译说明：docs/guides/BUILD_INSTRUCTIONS.md
+部署说明：docs/guides/QT6_DEPLOYMENT_GUIDE.md
+
+========================================
+  文件列表
+========================================
+
+agv_qt_gui.exe       - 主程序
+Qt6*.dll             - Qt 库文件
+libgcc*.dll          - MinGW 运行时
+platforms/           - Qt 平台插件
+styles/              - Qt 样式插件
+run.bat              - Windows 启动脚本
+run.sh               - Linux 启动脚本
+README.txt           - 本文件
+
+========================================
+EOF
+
+    echo -e "  ✓ README.txt"
+}
+
+optimize_size() {
+    print_step "优化部署包大小..."
+
+    cd "$DEPLOY_DIR"
+
+    # 删除不需要的插件
+    rm -rf tls 2>/dev/null || true
+    rm -rf networkinformation 2>/dev/null || true
+
+    # 删除不常用的图像格式插件
+    if [ -d "imageformats" ]; then
+        cd imageformats
+        rm -f qicns.dll qico.dll qtga.dll qtiff.dll qwbmp.dll qwebp.dll 2>/dev/null || true
+        cd ..
+    fi
+
+    # 删除调试文件
+    find . -name "*.pdb" -delete 2>/dev/null || true
+
+    cd "$PROJECT_ROOT"
+
+    echo -e "  ✓ 已删除不必要的文件"
+}
+
+create_archive() {
+    print_step "创建压缩包..."
+
+    ARCHIVE_NAME="AGV_PathTracking_Qt6_$(date +%Y%m%d).zip"
+
+    cd "$PROJECT_ROOT"
+
+    if command -v zip &> /dev/null; then
+        zip -r -q "$ARCHIVE_NAME" "$(basename "$DEPLOY_DIR")"
+        echo -e "  ✓ $ARCHIVE_NAME"
+    else
+        print_warning "未安装 zip 工具，跳过创建压缩包"
+    fi
+}
+
+show_summary() {
+    echo ""
+    echo -e "${GREEN}========================================${NC}"
+    echo -e "${GREEN}  部署完成！${NC}"
+    echo -e "${GREEN}========================================${NC}"
+    echo ""
+
+    # 计算大小
+    TOTAL_SIZE=$(du -sh "$DEPLOY_DIR" 2>/dev/null | cut -f1)
+    FILE_COUNT=$(find "$DEPLOY_DIR" -type f | wc -l)
+
+    echo "部署目录: $DEPLOY_DIR"
+    echo "总大小: $TOTAL_SIZE"
+    echo "文件数量: $FILE_COUNT"
+    echo ""
+
+    echo "目录结构："
+    tree -L 2 "$DEPLOY_DIR" 2>/dev/null || ls -la "$DEPLOY_DIR" | head -20
+
+    echo ""
+    echo -e "${YELLOW}下一步操作：${NC}"
+    echo "1. 测试部署包："
+    echo "   cd $DEPLOY_DIR && ./agv_qt_gui.exe"
+    echo ""
+    echo "2. 分发到其他计算机："
+    echo "   复制整个 $(basename "$DEPLOY_DIR") 文件夹"
+    echo ""
+    echo "3. 查看部署文档："
+    echo "   docs/guides/QT6_DEPLOYMENT_GUIDE.md"
+    echo ""
+}
+
+# ==================== 主流程 ====================
+
+main() {
+    print_header
+
+    check_requirements
+    create_deploy_dir
+    copy_executable
+    run_windeployqt
+    copy_mingw_runtime
+    copy_project_libs
+    create_launcher
+    create_readme
+    optimize_size
+    # create_archive  # 可选：取消注释以创建 ZIP
+
+    show_summary
+}
+
+# 运行主函数
+main